SYSTEM AND METHOD FOR LOCALIZING AN ATTACHMENT TOOL

Abstract

The invention relates to a system for localizing an attachment tool for a work device comprising a first communication unit connect to an attachment tool and having a first acceleration sensor that is configured to provide a first acceleration signal relating to an instantaneous acceleration of the attachment tool; a second communication unit connected to the work device in the region of a connection region for the attachment tool and having a second acceleration sensor that is configured to provide a second acceleration signal relating to an instantaneous acceleration of the connection region; and an identification module that is coupled to the first and/or second communication unit(s) and that is configured to obtain the first and second acceleration signals and to enable a safe allocation of the attachment tool to the work device by evaluating the signals. The invention further relates to a set of a work device and an attachment tool having a system in accordance with the invention and to a method of localizing an attachment tool for a work device with the aid of a system in accordance with the invention.

Claims

1. A system for localizing an attachment tool for a work device, the system comprising: a first communication unit connected to an attachment tool and having a first acceleration sensor configured to provide a first acceleration signal relating to an instantaneous acceleration of the attachment tool; a second communication unit connected to the work device in a connection region for the attachment tool and having a second acceleration sensor configured to provide a second acceleration signal relating to an instantaneous acceleration of the connection region; and an identification module that is coupled to one or more of the first or second communication unit and that is configured to obtain the first and second acceleration signals and to enable a safe allocation of the attachment tool to the work device by evaluating the first and second acceleration signals.

2. The system in accordance with claim 1, wherein the first communication unit is configured to wirelessly transmit the first acceleration signal to a reception unit wirelessly, with the reception unit configured to receive signals within a limited reception radius.

3. The system in accordance with claim 2, wherein the second communication unit comprises the reception unit and is configured to provide the first and second acceleration signals to the identification module; and wherein the second communication unit comprises the identification module or an identification unit connected to the work device that comprises the identification module and is configured to receive the first and second acceleration signals from the second communication unit in a wired or wireless manner.

4. The system in accordance with claim 2, further comprising: an identification unit connected to the work device, the identification unit comprising the identification module and the reception unit; and wherein the second communication unit is configured to transmit the second acceleration signal to the identification unit in a wired or wireless manner.

5. The system in accordance with claim 1, wherein the first communication unit is configured to provide an identification signal relating to one or more of a location, a dimension, a type, or another property of the attachment tool and to transmit the identification signal to one or more of the identification module or a control of the work device.

6. The system in accordance with claim 1, wherein the identification module is configured to take account of one or more pieces of information in comparing the first and second acceleration signals, the one or more pieces of information comprising one or more of: a property of a radio connection of the first communication unit; an instantaneous location of the attachment tool; a position of the first communication unit at an attachment tool; an instantaneous position of the work device; or an instantaneous coupling state of the attachment tool with the connection region of the work device.

7. The system in accordance with claim 1, wherein the identification module is configured to receive the first acceleration signal from the first communication unit of each of plural ones of the attachment tool and to compare each of the first acceleration signals with the second acceleration signal of the second communication unit to determine one or more of whether the attachment tool or which of plural ones of the attachment tool is connected to the work device.

8. The system in accordance with claim 7, wherein the identification module is configured to take account of one or both criteria in determining one or more of whether the attachment tool or which of the attachment tools is connected to the work device (10), the one or both criteria including: a first difference between the first and second acceleration signals; or a second difference between the second acceleration signal and an expected acceleration for the attachment tool calculated with reference to the second acceleration signal.

9. The system in accordance with claim 1, wherein at least two of the first communication unit are connected to different ones of the attachment tool that are one or more of coupled with one another or coupled with the connection region, the identification module configured to obtain the first acceleration signals of the at least two first communication units and to one or more of compare the first acceleration signals with one another or compare the first acceleration signals with the second acceleration signal to determine an attachment order of the attachment tools.

10. The system in accordance with claim 1, wherein at least two of the first communication unit are provided at respective different ones of the attachment tools that communicate with one another.

11. The system in accordance with claim 1, wherein the identification module is configured to calculate an expected acceleration for the attachment tool based on the second acceleration signal and to compare the expected acceleration with the first acceleration signal of the first communication unit of the attachment tool to one or more of recognize whether the attachment tool is connected to the work device or carry out a plausibility evaluation for an assumed equipment state of the work device.

12. A set of a work device and at least one attachment tool comprising a system in accordance with claim 1.

13. A method comprising: detecting a first instantaneous acceleration of an attachment tool using a first acceleration sensor of a first communication unit connected to the attachment tool and providing a first acceleration signal; detecting a second instantaneous acceleration of a connection region of the work device using a second acceleration sensor of a second communication unit and providing a second acceleration signal; transmitting the first and second acceleration signals to the identification module; and comparing the first and second acceleration signals to verify connection of the attachment tool to the work device.

14. The method in accordance with claim 13, wherein at least two of the first communication unit are provided that are connected to different ones of the attachment tools, with the attachment tools being couplable to one or more of one another or the connection region, with expected acerbations of the at least two attachment tools calculated based on the second acceleration signal and compared with the first acceleration signals of the at least two first communication units of the attachment tools to one or more of recognize whether one or more of the attachment tools are connected to the work device or carry out a plausibility evaluation for an assumed equipment state or for an equipment state of the work device transmitted by the first communication unit.

15. The method in accordance with claim 14, wherein information relating to one or more of a location, a dimension, a type, or another property of the attachment tools is transmitted to the identification module by the respective first communication units and is taken into account for the plausibility evaluation.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Further features, details, and advantages of the invention result from the embodiments explained in the following with reference to the Figures. There are shown:

[0060] FIG. 1: a side view of a work device with an attached attachment tool in accordance with an embodiment of the invention;

[0061] FIG. 2: a side view of three attachment tools with schematically shown transmission regions of the first communication devices;

[0062] FIG. 3: the connection region of a work device on the taking up of different attachment tools in side views;

[0063] FIG. 4: a side view of a work device with two attached attachment tools in accordance with a further embodiment;

[0064] FIG. 5: a side view of the connection region with two attached attachment tools in accordance with a further embodiment;

[0065] FIG. 6: the view in accordance with FIG. 4, with acceleration forces acting on the different parts being drawn; and

[0066] FIG. 7: a schematic diagram of the different components of the system in accordance with the invention in accordance with an embodiment.

DETAILED DESCRIPTION

[0067] A first embodiment of a work device 10 equipped with the system in accordance with the invention and having an attached attachment tool 30 is shown in a side view in FIG. 1. In the embodiment shown here, it is a hydraulic excavator 10 having an excavator bucket 30 as the attachment tool. The excavator 10 comprises a travelable undercarriage 12, a superstructure 14 rotatably supported on the undercarriage 12, and a pivotable excavator boom 16 at whose end (arm end) a connection region 18 is arranged that is formed as a pivotable quick-changer. The quick-changer 18 enables a fast and uncomplicated attachment and removal or changing of different attachment tools 30 in a manner known per se.

[0068] The hydraulic excavator 10 and the excavator bucket 30 (as well as further attachment tools 30 that are optionally available but are not shown in FIG. 1) are equipped with a tool communication and localization system in accordance with the invention. The system comprises a first communication unit 21 (also called a tool module 21 in the following) arranged at the excavator bucket 30, a second communication unit 22 (also called a receiver module 22 in the following) arranged at the quick-changer 18, and an identification unit 24 attached to/in the base device, but not shown in further detail here. The latter has a connection to the vehicle control 26.

[0069] The different modules (i.e. the first and second communication units 21, 22 and the identification unit 24) communicate with one another via radio and can exchange data. The first and second communication units 21, 22 preferably communicate by means of Bluetooth (BLE). The signals of the first communication unit 21 are in this respect transmitted to the second communication unit 22 that in turn wirelessly transmits these signals together with signals optionally provided by the second communication unit 22 itself to the identification unit 24. It is therefore possible over this path that signals are transmitted from the first communication unit 21 over the identification unit 24 to the vehicle control 26.

[0070] The first and second communication units 21, 22 are additionally equipped with acceleration sensors (not shown) that measure the accelerations of the corresponding parts (that is of the quick-changer 18 and of the excavator bucket 30) at the sites of the communication units 21, 22 and provide corresponding acceleration signals. These acceleration signals converge in the identification unit 24 and are analyzed by corresponding software (identification module) there.

[0071] The first and second communication units 21, 22 can comprise corresponding processors, memory modules and transmission and/or reception units.

[0072] In addition to the acceleration signals (first acceleration signals), the first communication unit 21 can provide further data relating to the associated attachment tool 30 (e.g. as so-called identification signals) to the second communication unit 22 and thus to the identification unit 24. These data on the tool 30 can, for example, be identification data, geometric data, and/or operating data that are provided to the vehicle control 26 that can then adapt or set the operation of the hydraulic excavator 10 to the respectively attached attachment tool 30.

[0073] FIG. 2 shows three attachment tools formed as orange-peel grabs 30″ as well as the boom 16 of a hydraulic excavator 10 in a side view.

[0074] The wireless coupling of the communication units 21, 22 takes place automatically. Since the first communication units 21 can have a certain transmission range 20 of up to a plurality of centimeters or meters (shown as circles 20 in FIG. 2) and since the second communication unit 22 also has a certain reception range 23 (shown as a circle 23 in FIG. 2), it may occur with a plurality of attachment tools 30″ positioned close to one another that due to the wireless communication the second communication unit 22 is simultaneously coupled with a plurality of first communication units 21 or receives their signals. Each of the corresponding first communication units 21 of the different attachment tools 30″ may now transmit different tool data to the second communication unit 22.

[0075] Since these exchanged data may well be safety-related, it is necessary to make a correct association of which tool 30″ is coupled to the base device or connection region 18 after an attachment.

[0076] The system in accordance with the invention now provides that an unambiguous and safe identification can be made of which attachment tool 30, 30′, 30″ is coupled to the base device.

[0077] FIG. 3 shows a plurality of examples of possible attachment tools 30, 30′ (here excavation buckets 30 and clam-shell grabs 30″) in a side view that are equipped with corresponding first communication units 21. All these tools 30, 30″ have corresponding connection means via which they can be connected to or gripped by the quick-changer 18.

[0078] The second communication unit 22 can be arranged laterally at the quick-changer 18, as illustrated in the embodiments shown here. Alternatively, however, other arrangements are also conceivable, for example centrally at/in the connection region or at an inner side of the quick-changer 18. It is likewise conceivable that the second communication unit 22 is not directly attached to the quick-changer 18, but rather at a different position at the boom 16 or arm.

[0079] The attachment tools 30, 30′, 30″ shown here also only show conceivable arrangements of the first communication units 21 in an exemplary and schematic manner. With an excavator bucket 30, it can, as shown, be attached to one of the side walls, with an arrangement at the upper side or at the rear wall also being conceivable, however. With orange-peel grabs 30″, the first communication unit 21 can, for example, be attached to the central middle column (see FIG. 3) in the region of the rotational connection or of the commotion region with the quick-changer 18 or likewise to the grabs themselves (see FIG. 3, far right).

[0080] The receiver module 22 at the excavator 10 receives signals of the tool modules 31 disposed in the reception radius 23. If an attachment tool 30, 30′, 30″ is coupled, the received signals are evaluated to identify which of the attachment tools 30, 30′, 30″ located in the radius is the one taken up.

[0081] In this respect, the first acceleration signals of the different tool modules 21 are compared by the identification unit 24 with the second acceleration signal provided by the receiver module 22 by means of suitable evaluation methods. If the excavator boom 16 is now moved, acceleration forces that depend on the attachment configuration (equipment state) and on the exact position of the first and second communication units 21, 22 act both on the quick-changer 18 and on the attached tool 30, 30′, 30″. Further attachment tools 30, 30′, 30″ located in the reception range 23 of the second communication unit 22 do not in contrast undergo any acceleration. An identification of the attached tool 30, 30′, 30″ is therefore possible via a comparison of the measured accelerations.

[0082] Further signals can additionally be made use of in addition to the acceleration signals for the correct identification or association: [0083] The strength of a communication signal (first acceleration signal and/or identification signal); [0084] The location of the tool 30, 30′, 30″; [0085] Information of the quick-changer 18 on the coupling state; [0086] Information on the position of the excavator 10.

[0087] Different signal processing methods can be used in the evaluation of the acceleration signals. It is conceivable, for example, that the signals are smoothed and/or are averaged over a certain time period before they are compared with one another.

[0088] It is likewise conceivable that the accelerations are only carried out by means of the accelerations sensor after the picking up of an attachment tool and/or only for a limited time period and/or only for so long until an unambiguous association has taken place. Provision can alternatively be made that the accelerations are measured during the total operation of the work device (e.g. at regular intervals or continuously) to provide corresponding data to the control and/or to the identification module continuously in operation (e.g. for a plausibility check or monitoring taking place regularly).

[0089] Suitable methods for evaluating the acceleration signals can comprise the following steps: [0090] The tool module 21 having the smallest difference in acceleration with respect to the reception module 22 is recognized as the coupled module 21; [0091] The expected movement of the tool module 21 on the coupling is calculated in advance on the basis of the movement of the reception module 22 and this calculated acceleration is compared with the received accelerations of the surrounding tool modules 21 located in the reception range 23. The tool module 21 having the smallest difference from the calculated value is recognized as the coupled module 21; [0092] On radio contact between a tool module 21 and the reception module 22, information on the positioning of the tool module 21 is received at the tool 30, 30′, 30″ from the attachment tool 30, 30′, 30″. A more exact calculation can be made on the basis of this information as to which accelerations are expected at the tool 30, 30′, 30″ in the coupling procedure and a higher accuracy can be achieved in the comparison of the received and calculated accelerations.

[0093] The method in accordance with the invention can likewise be used when a plurality of tools 30, 30′, 30″ were picked up together. An embodiment is shown in FIG. 4, for example, in which an arm extension 30′ is attached to the quick-changer 18 of the boom 16 that has its own quick-changer 18′ at its end remote from the boom 16, with an excavator bucket 30 in turn being attached to said quick changer 18′. FIG. 5 shows a further embodiment having a shorter adapter piece 18′ between the boom 16 and the excavator bucket 30.

[0094] Different accelerations that depend on the geometry and on the kinematics of the attachment tools 30, 30′ act on the two tool modules 21 of the two attached tools 30, 30′ on a movement of the boom 16 (and also on a movement of only one or both attachment tools 30, 30′). This is shown in FIG. 6 by the drawn arrows that are drawn between the pivot joint 25 of the quick-changer 18 and the respective first and second communication units 21, 22. The accelerations at the respective fastening points of the communication units 21, 22 are each composed of the acceleration components between the pivot joint 26 and the communication unit 21, 22 and components perpendicular thereto. On a pivoting of the quick-changer 18, the arm extension 30′ and the excavator bucket 30 pivot together, with the latter being further remote from the pivot point 25. Greater acceleration points accordingly act on the excavator bucket 30 than on the arm extension 30′.

[0095] With a plurality of coupled tools 30, 30′, their attachment order can additionally be determined on the basis of the respective accelerations since the accelerations differ on the basis of the kinematics of the excavator 10 and of the tools 30, 30′, 30″. The correct determination of the coupling order permits an exact setting of the excavator 10 to the attached tools 30, 30′, 30″.

[0096] Plausibility evaluations can additionally be carried out by a comparison of the accelerations with theoretical, calculated accelerations. An evaluation can thereby be made whether the transmitted dimensions of an arm extension 30′ (that is the dimensions that are e.g. transmitted with the identification signals of the first communication unit 21) differ from the actual dimensions in that the measured accelerations are compared with the accelerations expected in accordance with the transmitted data.

[0097] FIG. 7 shows a schematic diagram of the different components of the system in accordance with the invention in accordance with an embodiment. The tool module 21 connected to an attachment tool 30, 30′, 30″ communicates with the receiver module 22 at the excavator 10 via BLE. The communication between the receiver module 22 and the identification unit 24 centrally arranged in the excavator 10 takes place by radio, i.e. the data transmission can take place over a different radio standard than BLE. The identification unit 24 is connected to the vehicle control 26 via a corresponding interface so that data can be exchanged.

[0098] The vehicle control 26 is in turn connected to a cloud 28 via a communication module here: IoT gateway) by cellular radio. Data can therefore be exchanged between the cloud 28 and the vehicle control 26 or the identification unit 24 (for example, information can be called up from the cloud 28 or data can be stored therein).

REFERENCE NUMERAL LIST

[0099] 10 excavator [0100] 12 undercarriage [0101] 14 superstructure [0102] 16 boom [0103] 18 connection region (quick-changer) [0104] 18′ connection region (quick-changer) [0105] 20 transmission range [0106] 21 first communication unit [0107] 22 second communication unit [0108] 23 reception range [0109] 24 identification unit [0110] 25 pivot joint [0111] 26 control [0112] 28 cloud [0113] 30 attachment tool [0114] 30′ attachment tool [0115] 30″ attachment tool